Semantic localization in the PCL library

The semantic localization problem in robotics consists in determining the place where a robot is located by means of semantic categories. The problem is usually addressed as a supervised classification process, where input data correspond to robot perceptions while classes to semantic categories, like kitchen or corridor. In this paper we propose a framework, implemented in the PCL library, which provides a set of valuable tools to easily develop and evaluate semantic localization systems. The implementation includes the generation of 3D global descriptors following a Bag-of-Words approach. This allows the generation of fixed-dimensionality descriptors from any type of keypoint detector and feature extractor combinations. The framework has been designed, structured and implemented to be easily extended with different keypoint detectors, feature extractors as well as classification models. The proposed framework has also been used to evaluate the performance of a set of already implemented descriptors, when used as input for a specific semantic localization system. The obtained results are discussed paying special attention to the internal parameters of the BoW descriptor generation process. Moreover, we also review the combination of some keypoint detectors with different 3D descriptor generation techniques.

Semantic change and intersubjectification: The origin of reprise evidential conditional in Old Catalan

The reprise evidential conditional (REC) is nowadays not very usual in Catalan: it is restricted to journalistic language and to some very formal genres (such as academic or legal language), it is not present in spontaneous discourse. On the one hand, it has been described among the rather new modality values of the conditional. On the other, the normative tradition tended to reject it for being a gallicism, or to describe it as an unsuitable neologism. Thanks to the extraction from text corpora, we surprisingly find this REC in Catalan from the beginning of the fourteenth century to the contemporary age, with semantic and pragmatic nuances and different evidence of grammaticalization. Due to the current interest in evidentiality, the REC has been widely studied in French, Italian and Portuguese, focusing mainly on its contemporary uses and not so intensively on the diachronic process that could explain the origin of this value. In line with this research, that we initiated studying the epistemic and evidential future in Catalan, our aim is to describe: a) the pragmatic context that could have been the initial point of the REC in the thirteenth century, before we find indisputable attestations of this use; b) the path of semantic change followed by the conditional from a ‘future in the past’ tense to the acquisition of epistemic and evidential values; and c) the role played by invited inferences, subjectification and intersubjectification in this change.

Semantic change

Presentation of the volume.

Advances in Research on Semantic Roles

Especially in functional-typological linguistics, semantic roles have been studied thoroughly, because they constitute a good starting point for any study on argument marking due to their semantically defined nature. However, the very concept of semantic roles is far from being without problems, and there is still no consensus on how the roles are best defined. In this volume, the notion will be discussed from novel perspectives with the aim of providing new insights into our understanding of semantic roles. Two of the papers deal with semantic role clusters, one with semantic roles in verbless constructions, one with diachrony of semantic roles and two with individual semantic roles that have not been studied in too much detail in previous studies. The book may not offer answers to all questions the readers may have, but at least it raises interesting further questions relevant to arriving at a better understanding of semantic roles.

Allocation of uranium enrichment services to fuel foreign and domestic nuclear reactors, Energy Research and Development Administration, Department of State : report to the Committee on Foreign Affairs, House of Representatives /

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